Synchronous composition of discretized control actions: design, verification and implementation with ORCCAD
Résumé
Robotic systems are typical examples of hybrid systems where continuous time aspects, related to control laws, must be carefully merged with discrete-time aspects related to control switches and exception handling. These two aspects interact in real-time to ensure an efficient nominal behavior of the system together with safe and graceful degradation otherwise. In a mixed synchronous/asynchronous approach, ranging from user's requirements to run-time code, ORCADD provides formalized control structures, the coordination of which is specified using the ESTEREL synchronous language and formally verified using the FC2TOOLS package. CAD tools have been designed and integrated to help the users along the steps of programming, verification and implementation processes
Mots clés
control system CAD
exception handling
formal specification
parallel languages
program verification
real-time systems
robots
CAD tools
ESTEREL
FC2TOOLS package
ORCCAD
asynchronous approach
continuous time system
control laws
control switches
discrete-time system
discretized control actions
hybrid systems
programming
real-time
robotic systems
run-time code
synchronous approach
synchronous language
Automatic control
Computer science
Control systems
Data processing
Degradation
Real time systems
Robot kinematics
Robot programming
Robot sensing systems
Robotics and automation
Domaines
Robotique [cs.RO]Origine | Fichiers produits par l'(les) auteur(s) |
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